Spawing a Locobot with its developer package

Omniverse Isaac Sim
1

Isaac Sim Version

4.2.0
4.1.0
4.0.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):

Operating System

Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):

GPU Information

  • Model: NVIDIA RTX 3500 Ada Generation
  • Driver Version: Version: 565.57.01

Topic Description

Detailed Description

I want to use a LoCoBot WidowX-250 6 DOF (with a Kobuki base) in one of Isaac Sim’s environments.

The developer of the robot made an open source package Locobot ROS2 Documentation here with the robot description, the control for the arm, etc.

I am looking for a way to spawn the robot in Isaac Sim with all the tf already created and also to use the package made by the developer to control the robot arm and base motion.

From what I’ve seen from tutorials and videos online, it seems that the only way to spawn a robot is by using the URDF necessary extension (even via Python, we should import the robot at first within the simulation and save the USD of the environment to use it).

I would like to know if I am wrong and if it’s possible to spawn the robot in Isaac Sim from a launch file, as we do in Gazebo without, for instance, creating all the tf blocs using the ActionGraph. Using the robot camera instead of creating a new one, etc.

Screenshots or Videos

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2

While it’s not exactly the same as using a launch file in Gazebo, you can create a Python script that sets up the entire scene, spawns the robot, and configures the ROS 2 connections, which can then be executed to replicate the launch file functionality.

3

Dear Vick,

Thank you for your quick answer. Do you have an example of such a script?